Python library for Reinforcement Learning.

Simple OMPL motion planning interface for Pybullet

Pytorch implementation of diffusion models on Lie Groups for 6D grasp pose generation https://sites.google.com/view/se3dif/home

[RSS 2023] Diffusion Policy Visuomotor Policy Learning via Action Diffusion

Isaac Gym Reinforcement Learning Environments

Implementation of Denoising Diffusion Probabilistic Model in Pytorch

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit

Official implementation of CVPR23 paper "Diffusion-based Generation, Optimization, and Planning in 3D Scenes"

OpenaAI Gym Franka Emika Panda robot environment based on PyBullet.

Code for the paper "Planning with Diffusion for Flexible Behavior Synthesis"

Robot kinematics implemented in pytorch

Modular and flexible reinforcement learning library with support for Isaac Gym and Omniverse Isaac Gym environments

RL implementations

Vector Neuron pointcloud networks for classification and segmentation. Separate training setups for VN-DGCNN and VN-PointNet

Simple utilities for PyBullet, including collision detection, ghost (i.e. visual-only) objects, and cameras.

Code for the paper Learning Deep Energy Shaping Policies for Stability-Guaranteed Manipulation, IEEE RA-L, 2021

Code for the paper Learning Stable Normalizing-Flow Control for Robotic Manipulation, IEEE ICRA, 2021

Code for the paper Stability-guaranteed reinforcement learning for contact-rich manipulation, IEEE RA-L, 2020.

Wrappers and utilities for Nvidia IsaacGym

Reference implmentation of Diffusion models on SO(3)

Python implementations of several robotic motion planners

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

A PyTorch implementation of Implicit Behavioral Cloning by Florence et al.

Code corresponding to "Expected Information Maximization: Using the I-Projection for Mixture Density Estimation", published at ICLR 2020